【只谈干货】利用pcl库三步提取点云中的目标

最新推荐文章于 2024-08-02 18:48:33 发布

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最新推荐文章于 2024-08-02 18:48:33 发布

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分类专栏： pcl 文章标签：计算机视觉

本文链接：https://blog.csdn.net/ys578676728/article/details/104657262

版权

1. 导入pcd文件

  // Declare the original point cloud
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

  // Read .pcd file
  pcl::PCDReader reader;
  reader.read<pcl::PointXYZ>("../origin.pcd", *cloud);
  std::cout << "PointCloud before filtering has: " << cloud->points.size () << " data points." << std::endl;

在这里插入图片描述

2. 移除地面

pcl::VoxelGrid用来滤波，去除杂点

  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
  // Create the filtering object: downsampling the dataset using a leaf size of 1cm
  pcl::VoxelGrid<pcl::PointXYZ> vg;
  vg.setInputCloud(cloud);
  vg.setLeafSize(0.01f,0.01f,0.01f);
  vg.filter(*cloud_filtered);
  std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size ()  << " data points." << std::endl;